US5530347A - Induction-based semi-automatic device and method for reading coordinates of objects with a complicated structure and inputting data thereon into a computer - Google Patents

Induction-based semi-automatic device and method for reading coordinates of objects with a complicated structure and inputting data thereon into a computer Download PDF

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US5530347A
US5530347A US08/367,186 US36718694A US5530347A US 5530347 A US5530347 A US 5530347A US 36718694 A US36718694 A US 36718694A US 5530347 A US5530347 A US 5530347A
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point
coordinates
sensors
sup
magnetometric
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Andre A. M. Heerwegh
Eduard N. Leonovich
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HEERWEGH ANDRE ALBERT MADELEINE
LITH ADRIANUS MARIA VAN
TERESHKO IGOR VYACHESLAVOVICH
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/046—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by electromagnetic means

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  • the present invention concerns the field of automation and computer engineering. It concerns in particular an inductional, semi-automatic method for reading the coordinates of three-dimensional objects (scale models, models) with a complicated structure and the input of these data in a computer.
  • the invention can also be used without any restrictions whatsoever for reading the coordinates of two-dimensional objects (such as drawings, diagrams, maps, etc. ) and for their input in a computer.
  • Electromechanical methods are already known for the semi-automatic reading of the information of three-dimensional objects. Such a method is described in the Japanese patent application No 1-94420 for a "computer-oriented reading device for three-dimensional information"; IZOBRETENIA STRAN MIRA 1990, N6, p. 78. The method is based on the use of the three-dimensional pantographical system, whereby use is made of three three-dimensionally moveable levers which are connected to a stationary support and the actual coordinate reading device.
  • the levers are connected to one another by means of sensors which measure the angular displacement, whose information, taking into account the (known) length of the lever arms, can be used as basic data for the calculation (identification) of the three-dimensional coordinates of a specific point (peak point) of the coordinate reading device, which was superposed by the operator on a point of the object to be measured.
  • the present invention more closely resembles methods based on the use of induction to permit semi-automatic reading of surface and three-dimensional coordinates, such as the method described in the USSR author's certificate No. 550 548 for: "Device for reading graphic information" (BULLETEN IZOBRETENII N 10).
  • the present invention aims to make the inductive reading of three-dimensional coordinates as accurate as possible by restricting the number of excitations of the coordinate induction coils in the magnetic field, as well as by restricting the functional changes in the exciter current for said induction coils as much as possible.
  • the aim is also reached according to the new method by rotating the magnetic induction vector in the generated field successively about two points which are situated at a fixed distance d from one another on one of the coordinate axes (for example OX) in the Cartesian coordinate system for the working space, and in the horizontal and vertical planes; by differentiating the information signal for both magnetometric sensors according to the turning angle, as well as for the two field rotation points and each of the rotation planes.
  • OX coordinate axes
  • the invention also concerns a device for reading three-dimensional information which is particularly suited for the above-described embodiments of the method.
  • FIG. 1 schematically represents the rotation of the magnetic induction vector in the working space
  • FIG. 2 is a schematic representation of a device for reading three-dimensional information according to the invention.
  • FIG. 3 shows a diagram with the relation between the amplitude of the generalized information signal and the distance
  • FIG. 4 schematically represents the identification of the Cartesian coordinates of the middle points of the magnetometric sensor
  • FIG. 5 is a schematic representation of a second embodiment of a device for reading three-dimensional information according to the invention.
  • the method of the invention works because, if a source of an electromagnetic field is situated at the zero point 0 (FIG. 1) of the Cartesian coordinate system such that the components of the magnetic coordinate axis are changed according to the following equation:
  • the influence which the magnetic induction vector B exerts on the field (at point M 1 this is vector B 1 and at point M 2 this is vector B 2 ) of the magnetometric sensor is equal to its influence on any of the receiver induction coils, of which the S plane remains constantly perpendicular to the magnetic induction vector B, or, which comes down to the same, the perpendicular vector n (n 1 in the point M 1 and n 2 in the point M 2 ) coincides with vector B.
  • the equivalent positions of the induction coils in the points M 1 and M 2 will be equal to the positions S 1 and S 2 . It is appropriate to say that, during the rotation of the magnetic induction vector as the angles ⁇ and ⁇ change from 0 degrees to 90 degrees, the amplitude of the induced generalized information signal reaches its maximum value when the middle point of the magnetometric sensor is situated at the point having polar coordinates which correspond to the angles ⁇ and ⁇ .
  • ⁇ is the angle between the perpendicular n 1 , drawn on the S plane, and the vector B 1 .
  • the angle ⁇ in FIG. 1 equals zero (since the orientation of n 1 and B 1 coincides).
  • the middle point of the second magnetometric sensor is superposed on point M 2 , the starting point of the coordinates with the same mutual distance R, the outcome for the flux ⁇ 2 , under the conditions of the magnetic field, defined by the angles ⁇ 1 and ⁇ 1 , and according to the equivalent position of the induction coil S' 1 , is a value which is lower than for the flux ⁇ 1 , since the positions of the plane S' 1 and the vector B 2 , as represented in FIG. 1, form an angle which differs from the angle of 90 degrees.
  • the perpendicular n 2 which is drawn on the plane S' 1 does not coincide with vector B 2 , and moreover the angle ⁇ is bigger than 0.
  • the application of the rotating magnetic field which generates an equal field strength H at the points of the working space which are situated at an equal distance from the middle point of the turning movement, together with the use of two magnetometric sensors, whereby the amplitude of the generalized information signal remains unchanged in relation to their three-dimensional direction, form the basis of the method for reading three-dimensional information.
  • the amplitudes of the induced generalized signals are compared one by one, and for each of the sensors the maximum amplitude values are defined and registered as values E.sub. ⁇ ,max together with the corresponding angle values ⁇ 1 , ⁇ 1 and ⁇ 2 , ⁇ 2 .
  • the maximum value of the amplitude provides an idea of the magnitude R of the radius vector of each middle point of the sensor, and the values ⁇ 1 , ⁇ 1 and ⁇ 2 , ⁇ 2 can help to define the position of the middle points on the OX and OY axes respectively in the Cartesian coordinate system, whose zero point 0 is superposed on the middle point 0 of the rotation.
  • the middle points with coordinates x 1 , y 1 , z 1 and x 2 , y 2 , z 2 of the first and second magnetometric sensors can be determined.
  • FIG. 2 is a schematic representation of a first embodiment of a device with which the method can be applied.
  • the rotated electromagnetic field is formed by means of identical induction coils 1, 2 and 3 which are placed bi-orthogonally in the XOZ, YOZ and XOY planes of the Cartesian coordinate system.
  • the general middle point of the induction coils 1, 2 and 3 is superposed on the starting point 0 of the coordinate system.
  • the coils are simultaneously excited by current pulses whose variable amplitudes can be described as
  • the device contains three current pulse generators 4, 5 and 6 to excite the current pulses I 1 , I 2 and I 3 respectively, memory units 7, 8, and 9 to store values of functions sin ⁇ , cos ⁇ and sin ⁇ , and four memory units 10, 11, 12 and 13 to store the values of the functions sin ⁇ , cos ⁇ , sin ⁇ and cos ⁇ in correspondence with the selected increments ⁇ and ⁇ connected respectively to memory units 7, 8, and 9 and pulse generator 6, memory units 7, 8, and 9, with memory units 8 and 9 being respectively connected to pulse generators 4 and 5 and memory unit 7 being connected to both pulse generator 4 and pulse generator 5, such that the respective pulse generators 4, 5, and 6 output pulses corresponding to I sin ⁇ i cos ⁇ j , I sin ⁇ i , sin ⁇ j , and I cos ⁇ i .
  • the memory units 11 and 12 are connected to the control output "d", and the units 10 and 13 to the control output "e" of the control unit 14, which is connected via its input "a" to the solo pulse generator 15, which is connected to the start button 16.
  • the device contains the actual coordinate reading device 17 which has a peak point as defined above and two magnetometric sensors 18 and 19 which each contain three receiver induction coils.
  • the outputs of the three coils of the sensor 18 are sent via the amplifiers/multipliers 20, 21 and 22 to the analog accumulator 26, whereas the outputs of the three coils of the sensor 19 are sent via the amplifiers/multipliers 23, 24 and 25 to the analog accumulator 27.
  • the amplifier/multipliers 20 to 25 work according to the square root multiplication principle.
  • the analog accumulators 26 and 27 are connected to the analog-digital converters (ADC) 28 and 29 respectively, whose output is connected to the corresponding comparators 30, 31 and the code transmission gates 32 and 33, whose data outputs are connected to the inputs of the flipflop registers 34 and 35 which are used to store the respective codes of the lengths of each middle point of the sensor of the radius vectors R l and R 2 .
  • the outputs of the above-mentioned comparators 30 and 31 are connected to the control inputs of the code transmission gates 32 and 33.
  • the device also contains the flipflop registers 36 and 37 which store the angle values ⁇ 1 and ⁇ 2 , illustrated in FIG. 4 and which, by means of their data inputs, are connected to the code transmission gates 38 and 39, whose data inputs are connected to the output of the corresponding comparators 30 and 31 and to the output of the memory unit 10, used to store the function value sin ⁇ .
  • the device contains flipflop registers 40 and 41 to store the values for the angles ⁇ 1 and ⁇ 2 , as illustrated in FIG. 4 and which have analogous connections with the code transmission gates 42 and 43, the comparators 30 and 31 and a memory unit 11, used for storing the cos ⁇ function value.
  • the control unit 14 is connected via its output “f” to the inputs of the original settings of the analog-digital convertors 28 and 29 and the flipflop registers 34, 35, 36, 37, 40 and 41, via its output “d” and first delay element 44 with the control inputs of the current pulse generators 4, 5 and 6 and via the second delay element 45 to the control inputs of the comparators 30 and 31.
  • the input “b” of the control unit 14 is connected to the output of the cycle completion in the memory unit 13, meant to store the cos ⁇ -values, and the input "c” is connected to the analogous output of the memory unit 12, used for storing the function sin ⁇ -values.
  • the device works as follows.
  • the specific point on the coordinate reading device 17 superposed by the operator on a point of the object to be measured referred to herein as the peak point
  • the operator closes the loop by pushing the start button 16, as a result of which the pulse generator 15 is activated and sends a start pulse to the control unit 14, which is a digitized circuit.
  • the control unit 14 Upon receival of the start pulse the control unit 14 emits the output signal for the initial setting (zero) for the flipflops (AD convertors 28 and 29 for the registers 34, 35, 36, 37, 40 and 41) via its output "f". Afterwards, the control unit 14 sends values of the functions sin ⁇ 0 and cos ⁇ 0 respectively via its output "e” and respective memory units 10 and 13 to the register 7 and the Icos ⁇ current pulse generator 6. Afterwards, the control unit 14 sends pulses via its output "d” which successively send the values of the functions cos ⁇ and sin ⁇ from the memory units 11 and 12 to the registers 8 and 9.
  • the current pulses induced in the induction/magnetometric sensors 18 and 19 are amplified (when there have been two multiplications) by the amplifier/multipliers 20-25, added up three by three in the analog accumulators 26 and 27 and converted to digital code values by A/D convertors 28 and 29.
  • the signal of the output "d" of the control unit 14 which is transmitted through the delay elements 44 and 45 is supplied to the control input of the comparators 30 and 31 which compare the current codes on the outputs of the A/D convertors 28 and 29 to the current codes in registers 34 and 35 used for storing the data on the R 1 and R 2 lengths of the radius vectors.
  • the signals output by the comparators 30 and 31 trigger gates 38, 39, 42, and 43 to cause the codes for the angles ⁇ 1 and ⁇ 1 to be respectively transmitted from the memory units 10 and 11 to the registers 36 and 40 via the code transmission gates 38 and 42 (for the first magnetometric sensor 18) and the codes for the angles ⁇ 2 and ⁇ 2 to be respectively transmitted from the memory units 10 and 11 to the registers 37 and 41 via the code transmission gates 39 and 43 (for the second magnetometric sensor 19).
  • the registers 35, 37 and 41 receive the code of the maximum radius vector value for the middle point A 1 of the first magnetometric sensor 18 and in accordance with the maximum angles ⁇ 1 and ⁇ 1 .
  • Analogous codes are stored in the registers 35, 37 and 41 for the second magnetometric sensor 19 with middle point A 2 .
  • the signal from memory unit 12 is sent to the input "c" of the control unit 14, which subsequently provides for the transmission of the values to be obtained of the functions sin ⁇ and cos ⁇ from the memory units 10 and 13 to the register 7 and the pulse generator 6 via the output "e".
  • the register 34 will register the code for the maximum value of the length of the radius vector R, whereas the registers 36 and 40 will register the values of the angles ⁇ 1 and ⁇ 1 respectively for the first magnetometric sensor 18, and the registers 35, 37 and 41 the analogous values for the sensor 19.
  • FIG. 3 shows a diagram which represents the relation between the amplitude of the magnetometric sensor and the distance (R) to the beginning of the coordinate system.
  • a relation can be easily determined in an inductive manner (it is much more difficult to solve it in analytical manner), making use of the values E 93 ,i at points R i of the magnetometric sensor while it moves linearly (see FIG. 3).
  • the direction of the linear movement may differ within the boundaries of the working space, but it is easier to situate everything in a plane.
  • the data regarding E.sub. ⁇ ,i obtained through induction are stored in the computer.
  • the computer When the device receives codes of the amplitudes E*.sub. ⁇ of the generalized information signals (registers 34 and 35 are used), the computer starts to work out the algorithm for their conversion into the metric system for the distances R l and R 2 .
  • the polynomial L n (R) is formed by making use of for example Newton's formula for equal intervals and forward interpolation.
  • equation (1) which is used for the three-dimensional rotation of the magnetic field, is replaced by two equations, namely the equation (5):
  • the main difference with the first embodiment of the method concerns the use of the magnetic induction vector B which alternately turns in the selected XOY and XOZ planes.
  • FIG. 4 illustrates the geometric construction for a specific point which is used for receiving induction signals (this point belongs to the middle point of one of the magnetometric sensors). Naturally, a similar conclusion can also be made for the middle point of the second sensor.
  • the coordinates for the peak point of the coordinate reading device, superposed on the point which is read on the three-dimensional object, are, as in the preceding case, read according to the equation (4) .
  • the values of the angles ⁇ and ⁇ whereby the constantly changing amplitude E.sub. ⁇ of the generalized information signal of the magnetometric sensors has reached its maximum value, are defined by the differentiation of the signals E.sub. ⁇ depending on the corresponding angle. It is known that the first derived value zero corresponds to the extreme function value (this concerns both E.sub. ⁇ ( ⁇ ) as E ⁇ ( ⁇ ).
  • the flow values of ##EQU7## compared to the values of the limiting value U 0 0, the moment at which the angles ⁇ and ⁇ are equal can be fixed.
  • FIG. 5 is a schematic representation of the device for the application of the second embodiment of the method.
  • the rotating electromagnetic field appears at two points 0 1 and 0 2 , which are situated on the OX axis at the known mutual distance d from one another, and the field is formed by two systems of three bi-orthogonal identical induction coils 1, 2, 3 and 46, 47, 48.
  • the field is alternately rotated at the points 0 1 and 0 2 and alternately in each of the selected XOZ and YOZ planes.
  • the coils 1, 2 and 3 and 46, 47 and 48, which generate the electromagnetic field, are oriented in accordance with the coordinate planes XOZ, YOZ and XOY and according to the Cartesian coordinate system.
  • the inputs of the coils are connected to the current gates 49, 50 and 51 and 52, 53 and 54.
  • the current inputs of the gates 50 and 53 are connected to the sinusoidal current generator 55, and the current inputs of the gates 49, 51 and 52, 54 are connected to the output of the phase shifter 56, connected to the generator 55.
  • the device includes the coordinate reading device 17, with two magnetometric sensors 18 and 19, whose receiver coils are connected to the amplifiers of the square root type 20, 21, 22 and 23, 24 and 25 respectively.
  • the outputs of the amplifiers 20, 21 and 22 are connected to the analog accumulator 26 and those of the amplifiers 23, 24, 25 with the analog accumulator 27.
  • These accumulators 26 and 27 are connected to the differentiating connections 57 and 58 respectively.
  • the device comprises the control unit 61, whose input "a" is connected to the current pulse generator 62, connected to the start button 63.
  • the control unit 61 is connected to the sinusoidal current generator 55 via its output "b", and via its output “c” to the control input gates 50 and 51, via its output “e” with the input of the gates 52 and 53; the output “g” is connected to the input of the gates 53 and 54, and the control inputs "f” and “k” to the comparators 60 and 59 respectively.
  • the device works as follows.
  • the operator closes the loop by pushing the start button 63, as a result of which the pulse generator 62 is activated, which in turn activates the control unit 61.
  • the pulse generator 62 Via its output "d” the latter opens the current gates 49 and 50, and through the outlet of its output "b” the sinusoidal current generator 55 sends a series of digital values for the sine function, with an angle increment.
  • the constant sinusoidal signal is formed and brought in the phase shifter 56 where said signal is converted in a sinusoidal form.
  • signals coming from the generator 55 and the phase shifter 56 go through the current gates 50 and 49, which were opened by the outlet of the output "d", and the coils 1 and 2 are enforced by the first phase shifter (in point 0 1 ) to cause the rotation of the magnetic field in the XOY plane.
  • the magnetic fields are generated, which induce the corresponding signals ⁇ in the induction coils which are amplified by the amplifiers 20, 21, 22 and 23, 24, 25 with the square root qualities.
  • Said signals are collected in the analog accumulators 26, 27 and differentiated according to the angle in the differential connection 57, 58.
  • the differentiated signals are received in the corresponding comparators 59, 60 where they are compared to the threshold value 0.
  • the control unit 61 emits the control signals from its outputs "c", "e” and "g", and by making use of the outlet of its output "b” to transmit the sin function values of the generator 55, the angle intersections ⁇ 1 .sup.(1), ⁇ 1 .sup.(2), ⁇ 2 .sup.(1), ⁇ 2 .sup.(2), ⁇ 2 .sup.(1), ⁇ 2 .sup.( ⁇ ) are formed, required for the calculation of the Cartesian coordinates x 1 , y 1 , z 1 and x 2 , y 2 , and z 2 for the points which receive the induced signal (points which belong to the middle points A 1 and A 2 of the magnetometric sensors 18 and 19, and which are used to define the coordinates x, y, z of the point M which is read off from the three-dimensional object, according to the above-mentioned equations (4).
  • All routine calculations are preferably made by means of a microcomputer or minicomputer.
  • This method is advantageous in that there is not any mechanical digitization of the working space as for the working of the components and in that the amplitudes of the induced signals are immediately converted into their metric equivalents.
  • the accuracy with which the coordinates are measured solely depends on the sensitivity of the comparators used, and whose resolution capacity is much higher than anything that can be realized with mechanical digitization and with the conversion from analogous to digital values.

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BE09200588 1992-06-24
BE9200588A BE1007126A3 (nl) 1992-06-24 1992-06-24 Werkwijze en inrichting voor het lezen van driedimensionele informatie.
PCT/BE1993/000039 WO1994000826A1 (en) 1992-06-24 1993-06-23 Method and device for reading three-dimensional information

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DE19643495A1 (de) * 1996-10-22 1998-04-30 Peter Dr Ing Scholz Verfahren und Vorrichtung zur Erkennung einer Winkelstellung eines Richtungsindikators
US6195064B1 (en) 1999-08-23 2001-02-27 Lucent Technologies Inc. Communication employing triply-polarized transmissions
US6469501B1 (en) 1998-06-30 2002-10-22 3D Sensor Aps Conductive system for measuring the linear and angular positions of one object relative to another
EP1333368A2 (en) 2001-12-26 2003-08-06 Wacom Co., Ltd Three-dimensional information detecting device, three-dimensional information detecting sensor device, and three-dimensional information indicating device
US6757557B1 (en) * 1992-08-14 2004-06-29 British Telecommunications Position location system
WO2009025404A1 (en) * 2007-08-23 2009-02-26 Emf Safety Inc. Measurement position and time recording type magnetometer and method of measuring magnetic field using the same
US8200314B2 (en) 1992-08-14 2012-06-12 British Telecommunications Public Limited Company Surgical navigation
US20170067730A1 (en) * 2015-09-07 2017-03-09 Electronics And Telecommunications Research Institute Apparatus for acquiring location coordinates of object using two measurement heads and method using the same
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Cited By (13)

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US8200314B2 (en) 1992-08-14 2012-06-12 British Telecommunications Public Limited Company Surgical navigation
US6757557B1 (en) * 1992-08-14 2004-06-29 British Telecommunications Position location system
US5745384A (en) * 1995-07-27 1998-04-28 Lucent Technologies, Inc. System and method for detecting a signal in a noisy environment
DE19643495A1 (de) * 1996-10-22 1998-04-30 Peter Dr Ing Scholz Verfahren und Vorrichtung zur Erkennung einer Winkelstellung eines Richtungsindikators
DE19643495C2 (de) * 1996-10-22 2000-04-27 Peter Scholz Vorrichtung zur Erkennung einer Winkelstellung eines Richtungsindikators
US6469501B1 (en) 1998-06-30 2002-10-22 3D Sensor Aps Conductive system for measuring the linear and angular positions of one object relative to another
US6195064B1 (en) 1999-08-23 2001-02-27 Lucent Technologies Inc. Communication employing triply-polarized transmissions
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EP1333368A3 (en) * 2001-12-26 2004-07-14 Wacom Co., Ltd Three-dimensional information detecting device, three-dimensional information detecting sensor device, and three-dimensional information indicating device
WO2009025404A1 (en) * 2007-08-23 2009-02-26 Emf Safety Inc. Measurement position and time recording type magnetometer and method of measuring magnetic field using the same
US20170067730A1 (en) * 2015-09-07 2017-03-09 Electronics And Telecommunications Research Institute Apparatus for acquiring location coordinates of object using two measurement heads and method using the same
KR20170029367A (ko) * 2015-09-07 2017-03-15 한국전자통신연구원 두 개의 측정헤드들을 이용한 측정 물체의 위치 좌표 획득 장치 및 이를 이용한 방법
US10139214B2 (en) * 2015-09-07 2018-11-27 Electronics And Telecommunications Research Institute Apparatus for acquiring location coordinates of object using two measurement heads and method using the same

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DE69301822T2 (de) 1996-10-31
DK0647340T3 (nl) 1996-03-13
ATE135478T1 (de) 1996-03-15
ES2093429T3 (es) 1996-12-16
EP0647340B1 (en) 1996-03-13
EP0647340A1 (en) 1995-04-12
JPH07508586A (ja) 1995-09-21
WO1994000826A1 (en) 1994-01-06
BE1007126A3 (nl) 1995-04-04
DE69301822D1 (de) 1996-04-18

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